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Visual Positioning in Indoor Environments Using RGB-D Images and Improved Vector of Local Aggregated Descriptors
- Source :
- ISPRS International Journal of Geo-Information, Volume 10, Issue 4, ISPRS International Journal of Geo-Information, Vol 10, Iss 195, p 195 (2021)
- Publication Year :
- 2021
- Publisher :
- Multidisciplinary Digital Publishing Institute, 2021.
-
Abstract
- Positioning information has become one of the most important information for processing and displaying on smart mobile devices. In this paper, we propose a visual positioning method using RGB-D image on smart mobile devices. Firstly, the pose of each image in the training set is calculated through feature extraction and description, image registration, and pose map optimization. Then, in the image retrieval stage, the training set and the query set are clustered to generate the vector of local aggregated descriptors (VLAD) description vector. In order to overcome the problem that the description vector loses the image color information and improve the retrieval accuracy under different lighting conditions, the opponent color information and depth information are added to the description vector for retrieval. Finally, using the point cloud corresponding to the retrieval result image and its pose, the pose of the retrieved image is calculated by perspective-n-point (PnP) method. The results of indoor scene positioning under different illumination conditions show that the proposed method not only improves the positioning accuracy compared with the original VLAD and ORB-SLAM2, but also has high computational efficiency.
- Subjects :
- 3D model
0209 industrial biotechnology
Computer science
visual positioning
Geography, Planning and Development
Feature extraction
Point cloud
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
lcsh:G1-922
Image registration
02 engineering and technology
pose estimation
image retrieval
Set (abstract data type)
020901 industrial engineering & automation
0202 electrical engineering, electronic engineering, information engineering
Earth and Planetary Sciences (miscellaneous)
Computer vision
Computers in Earth Sciences
Image retrieval
Pose
business.industry
RGB-D Images
RGB color model
020201 artificial intelligence & image processing
Artificial intelligence
business
Mobile device
lcsh:Geography (General)
Subjects
Details
- Language :
- English
- ISSN :
- 22209964
- Database :
- OpenAIRE
- Journal :
- ISPRS International Journal of Geo-Information
- Accession number :
- edsair.doi.dedup.....bd3ffdd5f1143329867598e46accc3db
- Full Text :
- https://doi.org/10.3390/ijgi10040195